sk1700/iros2

UR5e Dual RealSense Haptic Teleoperation Dataset (LeRobot v2.1)

• Control loop: ~500 Hz (RTDE)
• Dataset sampling: fixed 30 Hz

Definitions:

• observation.state[t] = q_actual[t] (UR joint positions, rad)
• action[t] = Δq[t] = q_actual[t+1] - q_actual[t] (joint delta per dataset timestep at 30 Hz)

Visualizer-friendly naming:

• observation.state names: ['shoulder_pan.pos', 'shoulder_lift.pos', 'elbow_flex.pos', 'wrist_1.pos', 'wrist_2.pos', 'wrist_3.pos']
• action names: ['shoulder_pan.dq', 'shoulder_lift.dq', 'elbow_flex.dq', 'wrist_1.dq', 'wrist_2.dq', 'wrist_3.dq']

Videos:

• videos/chunk-000/observation.images.wrist/episode_XXXXXX.mp4
• videos/chunk-000/observation.images.front/episode_XXXXXX.mp4

Per-episode Parquet schema (STRICT order): action, observation.state, timestamp, frame_index, episode_index, index, task_index